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A pseudo-linear kulman filter(PLKF)algorithm was presented for tracking a moving target by using DOA and TDOA measurements based on two stations. 建立了兩站基於角度(DOA)和時差(TDOA)信息的偽線性觀測模型,基於該模型提出了勻速運動目標的偽線性卡爾曼濾波(PLKF)算法。